2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)最新文献_第3页

Using fiducial markers to improve localization of a drone 使用基准标记来提高无人机的定位

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263754

Eduard Mráz, J. Rodina, Andrej Babinec

{"title":"Using fiducial markers to improve localization of a drone","authors":"Eduard Mráz, J. Rodina, Andrej Babinec","doi":"10.1109/ISMCR51255.2020.9263754","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263754","url":null,"abstract":"Localization is a widely known task in a world of robotics. Mobile robots nowadays are becoming fully autonomous. For a robot to be fully autonomous, the ability to localize itself is very fundamental. Sufficient accuracy is often achieved by using multiple sources of position information. In the scope of this article, two such sources were used: Intel RealSense T265 tracking camera for continuous visual odometry calculation and RGB sensor in combination with ArUco fiducial markers to minimize error accumulated in visual odometry. These markers - just like all sources of information - have their flaws. To minimize the error caused by flaws of ArUco markers, variance filter was successfully implemented and evaluated. The whole system was tested several times on a drone, which was able to fly autonomously in an indoor environment. Furthermore, all processes needed for such localization ran smoothly on the Nvidia Jetson Nano computer mounted directly on the drone while flying. All these achievements were proven to be a really strong foundation for an autonomous drone, which can later perform useful tasks in indoor environments, including warehouse inventories, industrial halls inspections, or even some security operations. All this without an operator or pilot intervention.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123360458","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Lightweight SLAM with automatic orientation correction using 2D LiDAR scans 使用2D激光雷达扫描自动定向校正的轻型SLAM

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263722

Gábor Péter, B. Kiss

引用次数: 0

Generating instant trajectory of an indoor UAV with respect to its dynamics 根据其动力学特性生成室内无人机的瞬时轨迹

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263769

David Rau, J. Rodina, Filip Štec

{"title":"Generating instant trajectory of an indoor UAV with respect to its dynamics","authors":"David Rau, J. Rodina, Filip Štec","doi":"10.1109/ISMCR51255.2020.9263769","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263769","url":null,"abstract":"The application of autonomous indoor UAVs indicates the need for a deeper examination of the trajectory generation. This is due to the fact that the same UAV dynamics are used in more confined space, greatly decreasing the space for maneuvering. The result of path planning methods usually represents a finite set of points with a certain spacing between them. To optimize the system, an effort is made to maximize these distances, while maintaining the shape of the path. To obtain a trajectory suitable for UAV control, it is necessary to define the path between these points analytically. The global trajectory (the whole flight or a significant part of it) can be generated by interpolation or regression of known points. The generation of instant trajectory takes into account the output of reactive navigation and other control systems. The outputs of these systems might provide position targets with large dynamic and directional range over short distances. In our task, we have chosen an approach to generate an instant trajectory via Hermite’s spline. With this approach we can generate an instant trajectory from the current state. During generation the transitions between points are continuous even without knowing the previous states, using only the prescribed dynamics at a given point. Therefore, we know the desired position and velocity of the UAV at all times, preventing sharp movements done by a sudden jump of desired position. The result of the task in this paper is the testing and verification of the Hermite’s spline on a real autonomous UAV, which is currently being developed in collaboration with the Institute of Robotics and Cybernetics at the Slovak University of Technology in Bratislava.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114548505","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Eye-to-Hand Architecture for PCB Automated Dismantling Procedures PCB自动拆解程序的眼手结构

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263742

I. Doroftei, A. Burlacu

引用次数: 1

Distributed coverage optimization for a fleet of unmanned maritime systems for a maritime patrol and surveillance application 用于海上巡逻和监视应用的无人海事系统舰队的分布式覆盖优化

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263740

G. De Cubber, Rihab Lahouli, D. Doroftei, R. Haelterman

引用次数: 0

Augmented Reality life-size flight panel for checklist training 增强现实真人大小的飞行面板检查表训练

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263717

S. K. Füchter, George Salazar, S. Mario Sergio

{"title":"Augmented Reality life-size flight panel for checklist training","authors":"S. K. Füchter, George Salazar, S. Mario Sergio","doi":"10.1109/ISMCR51255.2020.9263717","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263717","url":null,"abstract":"A pre-flight checklist requires in-depth technical knowledge of the aircraft and its dashboard, avionics, instruments, functions, and cabin layout. The student in training to be a pilot or advanced pilot, to obtain an updated certification, must know very thoroughly each instrument and its position on the flight panel. Every second spent searching for the location of an instrument, switch or indicator can waste time completing the checklist, resulting in a poor start-up procedure and possibly a safety hazard. This paper reports preliminary findings of using augmented reality (AR) technology in a training setting. The objective of this research was to obtain preliminary data to determine if the use of AR as a human interface for training can help pilots improve their skills and help them learn new flight panel layouts of different aircraft more efficiently and effectively than traditional training methods. For this research, the methodology used was Human-Centered Design (HCD) which is a multidisciplinary process that involves many actors who collaborate on design skills, including people who belong to this process such as flight instructors, students, and pilots. A mobile / tablet application prototype was created for the user to have in their pocket, a rich experience with enough detail of a flight panel of a Cessna150, an aircraft used in training flights at the Santa Catarina Aero club. The tests were applied in Brazil and the results showed a good response and acceptance from the users from the users from the users.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123853184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Motion planning for mobile robots using uncertain estimations about the environment 基于不确定环境估计的移动机器人运动规划

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263403

Z. Gyenes, E. Szádeczky-Kardoss

引用次数: 1

A Multi-Robot System for Thermal Vision Inspection 多机器人热视觉检测系统

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263748

Giuseppe Sutera, Andrea Borgese, D. Guastella, L. Cantelli, G. Muscato

引用次数: 1

New technologies increasingly efficient in the areas of CBRNE alert detection, identification, protection and prophylatic treatments 新技术在CBRNE警报检测、识别、保护和预防治疗领域的效率越来越高

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263737

Claudette LeFebvre, Y. Baudoin

{"title":"New technologies increasingly efficient in the areas of CBRNE alert detection, identification, protection and prophylatic treatments","authors":"Claudette LeFebvre, Y. Baudoin","doi":"10.1109/ISMCR51255.2020.9263737","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263737","url":null,"abstract":"In the field of chemical and biological defence, technical and technological developments have followed those of threats and risks. As a result, the means of detection, identification, protection, decontamination and medical, preventive or curative treatments have been significantly improved. CBRN defence More efficient, faster and especially more reliable, the equipment has undeniably made it possible to improve the CBRN defences in particular in these specific areas in order to better cope with major events. Without being exhaustive, this paper proposes to present the most significant developments in the field of chemical and biological defence, including the use of Robotics Systems, knowing that technical and technological developments have also been significant in the nuclear and radiological fields which will not be discussed here. Robotics: The Mobile Robotics Systems begin to emerge in applications related to the security and the environmental surveillance: prevention of disasters, intervention during disasters, assistance to Fire-Fighting and/or Protection Services, with all possible kinds of mission ensuring the safety of the human beings.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129859102","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

3D Head Pointer: A manipulation method that enables the spatial localization for a wearable robot arm by head bobbing 3D头部指针:一种通过头部摆动来实现可穿戴机械臂空间定位的操作方法

2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263775

Joy Oh, Kozo Ando, Shuhei Iizuka, Lena Guinot, F. Kato, H. Iwata

{"title":"3D Head Pointer: A manipulation method that enables the spatial localization for a wearable robot arm by head bobbing","authors":"Joy Oh, Kozo Ando, Shuhei Iizuka, Lena Guinot, F. Kato, H. Iwata","doi":"10.1109/ISMCR51255.2020.9263775","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263775","url":null,"abstract":"This paper introduces a new type of interface “3D Head Pointer” for operation of a wearable robot arm in 3D space. The developed system is aimed at assisting the user in execution of daily chores (e.g. opening an umbrella, stirring a pot) while concurrently operating wearable robot arm. Previous researches have demonstrated the difficulty in simultaneously controlling a robot arm while uninterruptedly performing another task with one’s own hands. The proposed method uses a combination of the orientation of the face and head bobbing (a forward and backward movement of the head) to manipulate spatial localization in a polar coordinate system. In a Virtual Reality (VR) environment, the proposed system and its efficiency at adapting its operating magnification (IDF) by relying on the incremental changes in head bobbing were evaluated through measurement of the instructional accuracy and time demand. Experiments were conducted with 12 participants. Results displayed an accuracy of 1.3 cm with a 4 seconds time span necessary to communicate an instruction. These results, along with the confirmed ability of an individual to multi-task while operating, suggested the effectiveness of the operation method and IDF.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129203073","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6